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<pre><span class="sourceLineNo">001</span>package edu.wpi.first.wpilibj.templates;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.DigitalInput;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Jaguar;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import edu.wpi.first.wpilibj.Talon;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import edu.wpi.first.wpilibj.Victor;<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span>/**<a name="line.8"></a>
<span class="sourceLineNo">009</span> * The RobotMap is a mapping from the ports sensors and actuators are wired into<a name="line.9"></a>
<span class="sourceLineNo">010</span> * to a variable name. This provides flexibility changing wiring, makes checking<a name="line.10"></a>
<span class="sourceLineNo">011</span> * the wiring easier and significantly reduces the number of magic numbers<a name="line.11"></a>
<span class="sourceLineNo">012</span> * floating around.<a name="line.12"></a>
<span class="sourceLineNo">013</span> */<a name="line.13"></a>
<span class="sourceLineNo">014</span>public class RobotMap {<a name="line.14"></a>
<span class="sourceLineNo">015</span>    // For example to map the left and right motors, you could define the<a name="line.15"></a>
<span class="sourceLineNo">016</span>    // following variables to use with your drivetrain subsystem.<a name="line.16"></a>
<span class="sourceLineNo">017</span>    // public static final int leftMotor = 1;<a name="line.17"></a>
<span class="sourceLineNo">018</span>    // public static final int rightMotor = 2;<a name="line.18"></a>
<span class="sourceLineNo">019</span>    <a name="line.19"></a>
<span class="sourceLineNo">020</span>    // If you are using multiple modules, make sure to define both the port<a name="line.20"></a>
<span class="sourceLineNo">021</span>    // number and the module. For example you with a rangefinder:<a name="line.21"></a>
<span class="sourceLineNo">022</span>    // public static final int rangefinderPort = 1;<a name="line.22"></a>
<span class="sourceLineNo">023</span>    // public static final int rangefinderModule = 1;<a name="line.23"></a>
<span class="sourceLineNo">024</span>    public static DigitalInput top, bottom, cycleSensor, doorClose, doorOpen; <a name="line.24"></a>
<span class="sourceLineNo">025</span>    public static Jaguar frontLeft, frontRight, backLeft, backRight;<a name="line.25"></a>
<span class="sourceLineNo">026</span><a name="line.26"></a>
<span class="sourceLineNo">027</span>    public static Victor doorMover;<a name="line.27"></a>
<span class="sourceLineNo">028</span>    public static Talon lifterMover1, lifterMover2;<a name="line.28"></a>
<span class="sourceLineNo">029</span><a name="line.29"></a>
<span class="sourceLineNo">030</span><a name="line.30"></a>
<span class="sourceLineNo">031</span>    <a name="line.31"></a>
<span class="sourceLineNo">032</span>    <a name="line.32"></a>
<span class="sourceLineNo">033</span>    public static void init()<a name="line.33"></a>
<span class="sourceLineNo">034</span>    {<a name="line.34"></a>
<span class="sourceLineNo">035</span>        top=new DigitalInput(1);<a name="line.35"></a>
<span class="sourceLineNo">036</span>        bottom=new DigitalInput(8);<a name="line.36"></a>
<span class="sourceLineNo">037</span>        cycleSensor=new DigitalInput(3);<a name="line.37"></a>
<span class="sourceLineNo">038</span>        doorClose=new DigitalInput(2);<a name="line.38"></a>
<span class="sourceLineNo">039</span>        doorOpen=new DigitalInput(10);<a name="line.39"></a>
<span class="sourceLineNo">040</span>        <a name="line.40"></a>
<span class="sourceLineNo">041</span>        <a name="line.41"></a>
<span class="sourceLineNo">042</span>        frontLeft=new Jaguar(3);<a name="line.42"></a>
<span class="sourceLineNo">043</span>        frontRight=new Jaguar(2);<a name="line.43"></a>
<span class="sourceLineNo">044</span>        backLeft=new Jaguar(4);<a name="line.44"></a>
<span class="sourceLineNo">045</span>        backRight=new Jaguar(1);<a name="line.45"></a>
<span class="sourceLineNo">046</span>        <a name="line.46"></a>
<span class="sourceLineNo">047</span>        <a name="line.47"></a>
<span class="sourceLineNo">048</span>        doorMover=new Victor(5);<a name="line.48"></a>
<span class="sourceLineNo">049</span>        lifterMover1=new Talon(6);<a name="line.49"></a>
<span class="sourceLineNo">050</span>        lifterMover2 = new Talon(7);<a name="line.50"></a>
<span class="sourceLineNo">051</span>    }<a name="line.51"></a>
<span class="sourceLineNo">052</span>    <a name="line.52"></a>
<span class="sourceLineNo">053</span>    <a name="line.53"></a>
<span class="sourceLineNo">054</span>    <a name="line.54"></a>
<span class="sourceLineNo">055</span>}<a name="line.55"></a>




























































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